부산대학교 도서관

Numerous snake-like robot mechanisms have been developed over the past several decades. A well studied kinematic structure consists of a series of segments coupled with rotational joints. In some designs, each segment is coupled with a 2-DOF joint. In others, segments are coupled through 1-DOF joints, with even numbered joints implementing yaw and odd numbered joints implementing pitch. In this paper, we present a robotic snake that implements both rotational and translational degrees of freedom in each joint. This new design allows for several new gaits to be implemented. We begin by presenting the mechanical design of the robot, and derive the kinematic equations of the robot's joints. Next, the electrical and communication systems are described. Finally, several gaits unique to this kinematic design are demonstrated.